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    • 6. 发明申请
    • Numerical control apparatus
    • 数控装置
    • US20050042052A1
    • 2005-02-24
    • US10921233
    • 2004-08-19
    • Tomomi NakazatoHitoshi Matsuura
    • Tomomi NakazatoHitoshi Matsuura
    • B23Q15/00B23C1/00G05B19/18G05B19/408G05B19/41G05B19/4103
    • G05B19/4086G05B2219/33269Y10T408/08Y10T408/93Y10T409/300896Y10T409/307224Y10T409/307672
    • A machine having X- and Y-axis linear moving axes and a pivot axis B for rotationally pivoting a pivot member having a tool arranged at a distal end thereof about an axis parallel to a Z axis is controlled. A moving command obtained by a command program commanded by a position expressed by X, Y, and Z in a three-dimensional orthogonal coordinate system is subjected to an interpolation process to calculate amounts of interpolation movement (ΔX, ΔY, and ΔZ) of the respective orthogonal axes. An amount of rotation Δθ of the pivot axis required for moving the tool by the amount of movement ΔY in the Y-axis direction is calculated. An amount of correction movement δx for canceling the movement in the X-axis direction caused by the rotation Δθ of the pivot axis B is calculated. Values (ΔX+δx), Δθ, and ΔZ are outputted to the X axis, the pivot axis B, and the Z axis, respectively.
    • 控制具有X轴和Y轴线性移动轴的机器以及用于旋转地枢转枢转构件的枢转轴线B,枢轴构件具有围绕平行于Z轴的轴线的远端设置的工具。 对由三维正交坐标系中由X,Y和Z表示的位置所命令的命令程序获得的移动指令进行内插处理,以计算内插运动量(DeltaX,DeltaY和DeltaZ) 各自的正交轴。 计算用于将工具移动移动量ΔY在Y轴方向上所需的枢转轴的旋转量。 计算用于消除由旋转轴线B的旋转角度引起的在X轴方向上的运动的校正移动量的量。 值(DeltaX + deltax),Deltatheta和DeltaZ分别输出到X轴,枢转轴B和Z轴。
    • 7. 发明授权
    • Tracing control system
    • 跟踪控制系统
    • US5477119A
    • 1995-12-19
    • US365868
    • 1994-12-29
    • Hitoshi Matsuura
    • Hitoshi Matsuura
    • B23Q35/12B23Q35/123G05B19/408G05B19/4097
    • B23Q35/123G05B2219/43158G05B2219/4707
    • A tracing control system for tracing a groove counter can easily measure the groove contour formed on a three-dimensional model surface. A tracer head is provided with a stylus having a size enabling the stylus to slide in a groove formed on the model surface in the state that the stylus receives a load from three axial directions. Amount of displacement sensing means senses the amount of displacement of the stylus. Displacement vector calculation means calculates the displacement vector of the stylus based on the sensed amount of displacement of the stylus. Movement control means controls the positional movement of the tracer head so that the displacement vector is equal to a predetermined vector value at all times. Position sensing means senses the present position of the tracer head. Data creation means creates digitized data based on the sensed present position of the tracer head and the amount of displacement of the stylus.
    • 用于跟踪凹槽计数器的跟踪控制系统可以容易地测量形成在三维模型表面上的凹槽轮廓。 示踪器头具有触针,其具有使得触针能够在触针从三个轴向接收负载的状态下在形成在模型表面上的凹槽中滑动的尺寸。 位移检测装置的量感测触针的位移量。 位移矢量计算装置基于感测到的触针的位移来计算触针的位移矢量。 移动控制装置控制示踪头的位置移动,使得位移矢量始终等于预定的矢量值。 位置检测装置感测示踪器头的当前位置。 数据创建装置根据感测到的跟踪头的当前位置和触控笔的位移量来创建数字化数据。
    • 8. 发明授权
    • Noncontact tracing control device
    • 非接触式追踪控制装置
    • US5345687A
    • 1994-09-13
    • US842345
    • 1992-03-25
    • Hitoshi MatsuuraEiji Matsumoto
    • Hitoshi MatsuuraEiji Matsumoto
    • G01B11/24B23Q35/127B23Q35/128B23Q35/38G01B11/245
    • B23Q35/128G05B2219/37422
    • In a copy control device wherein a model (6) and a workpiece moved relatively with a tracer head (4) and a tool in an X-Y plane, measured distance values to the surface of the model, which are detected by first and second non-contact detectors (5a, 5b) obliquely mounted on the tracer head (4) rotatable about a Z axis are periodically sampled to obtain the coordinate values of measured points on the surface of the model, a normal vector (Nn) on the surface of the model is calculated from three coordinate values out of four measured points (P1n-1, P1n, P2n-1, P2n) successively obtained by the both detectors, and the tracer head is rotated so as to move along a projection (N1n) of the normal vector (Nn) on the X-Y plane, so that measuring axes of the detectors are controlled to be approximately vertical to the surface of the model. After two points are selected from four measured points, such a point is selected out of the remaining two measuring two points as a third point that satisfies a condition that a point of intersection between a perpendicular from such a point to a straight line passing through the previously selected two points and the above-mentioned straight line is interposed between the previously selected two points, and that satisfies a condition that the length of the above mentioned perpendicular is larger than a predetermined value.
    • PCT No.PCT / JP91 / 01002 Sec。 371日期:1992年3月25日 102(e)1992年3月25日PCT PCT 1991年7月25日PCT公布。 第WO92 / 01534号公报 日期:1992年2月6日。在复制控制装置中,其中模型(6)和工件相对于示踪器头(4)和工具在XY平面中移动,测量到模型表面的距离值, 由倾斜安装在可围绕Z轴旋转的示踪头(4)上的第一和第二非接触检测器(5a,5b)进行周期性采样,以获得模型表面上的测量点的坐标值,法线向量( Nn)由两个检测器连续获得的四个测量点(P1n-1,P1n,P2n-1,P2n)中的三个坐标值计算,并且示踪头旋转以便沿着 在XY平面上的法线矢量(Nn)的投影(N1n),使得检测器的测量轴被控制为与模型的表面大致垂直。 在从四个测量点中选出两个点之后,从剩余的两个测量点中选出这样一个点作为第三点,该第三点满足以下条件:从这样一个点到垂直于该直线的直线之间的交点 先前选择的两点,并且上述直线插入在先前选择的两个点之间,并且满足上述垂直的长度大于预定值的条件。
    • 9. 发明授权
    • Non-contact digitizing method
    • 非接触数字化方法
    • US5327351A
    • 1994-07-05
    • US920319
    • 1992-08-19
    • Hitoshi MatsuuraEiji Matsumoto
    • Hitoshi MatsuuraEiji Matsumoto
    • B23Q33/00B23Q35/128G01B21/20G05B19/408G05B19/41G06F15/46
    • B23Q35/128G05B19/41G05B2219/37422
    • When a non-contact tracing of a configuration of a three-dimensional model is carried out, the measurement axis of a tracer head is controlled to always be facing in an optimum direction with respect to a model surface by controlling the attitude of the tracer head, to thereby create tracing data of the configuration of the model. The tracer head is provided with two non-contact distance sensing units, and a normal vector of the model surface is determined based on a measurement value obtained by sampling tracing data supplied from the tracer head. At this time, the direction of a normal vector is determined from the outer product of surface vectors in a range in which the angle between an axial vector starting from a measurement point of the measurement axis of the tracer head and the normal vector at the measurement point does not exceed 90.degree.. The tracer head is controlled to be rotated in the direction toward a projection obtained by projecting the normal vector on a predetermined plane.
    • PCT No.PCT / JP91 / 01764 Sec。 371日期:1992年8月19日 102(e)日期1992年8月19日PCT 1991年12月25日PCT PCT。 出版物WO92 / 11974 日期:1992年7月23日。当执行三维模型的配置的非接触跟踪时,示踪器头的测量轴被控制为总是面向相对于模型表面的最佳方向 控制示踪头的姿态,从而创建模型配置的跟踪数据。 示踪器头设置有两个非接触距离感测单元,并且基于通过从示踪器头提供的跟踪数据采样获得的测量值来确定模型表面的法向矢量。 此时,在从示踪头的测量轴的测量点开始的轴向矢量与测量的法线矢量之间的角度的范围内,从表面矢量的外积确定法线矢量的方向 点不超过90度。 控制示踪器头沿朝向通过将法向量投影到预定平面而获得的投影的方向上旋转。
    • 10. 发明授权
    • Digitizing method
    • 数字化方法
    • US5317517A
    • 1994-05-31
    • US94914
    • 1993-07-22
    • Hitoshi MatsuuraHitoshi AramakiOsamu Nakajima
    • Hitoshi MatsuuraHitoshi AramakiOsamu Nakajima
    • G05B19/42G06F15/46G05B19/18
    • G05B19/4207
    • Disclosed is a digitizing method of sensing an amount of displacement of each axis applied to a stylus by a tracer head, profiling a model surface while controlling the stylus in such a manner that the amount of displacement is made equal to a reference amount of displacement, sequentially fetching positional data by a predetermined method, and outputting NC data, wherein a difference between the amount of displacement and the reference amount of displacement is monitored, and the difference is added to the positional data and a specific positional data obtained when the difference exceeds a predetermined value is output. Although the amount of displacement of each axis is controlled to be equal to the reference amount of displacement when a gently inclined configuration is profiled, at the moment when a corner is reached, a phenomenon that the stylus is spaced apart from a model arises so that the difference between the amount of displacement and the reference amount of displacement is increased. This change is sensed and regarded to exhibit the corner, and thus the difference is added to the output point obtained by a usual digitizing and the positional data at a point is output.
    • 公开了一种数字化方法,用于通过示踪头来感测施加到触针的每个轴的位移量,同时在以使得位移量等于基准位移量的方式控制触针的同时对模型表面进行成形, 并且输出NC数据,其中监视位移量与基准位移量之间的差异,并且将该差值加到位置数据上,并且将该差值加到位置数据和当该差异超过当前位置数据时获得的特定位置数据 输出预定值。 虽然当轻轻地倾斜配置被成形时,每个轴的位移量被控制为等于基准的位移量,但是在到达拐角的时刻,出现触针与模型间隔开的现象,使得 位移量与基准位移之间的差异增加。 该变化被感测并被认为是出现拐角,因此将该差值加到通过通常的数字化获得的输出点上,并且输出一点位置数据。